Glider Fleet Configurations

Deployment ru34-20240112T1722

Pilot Notes

Since deployment, roughly:

# Low density abort stuff
sensor: u_abort_min_burn_time(sec)    		600   # Never drop the weight before this time
sensor: u_abort_max_burn_time(sec)    		86400 # 24 hrs, at least a tidal cycle, Always drop the weight after this time

sensor: u_reqd_depth_at_surface(m)			2

# Steering params
sensor: u_hd_fin_ap_run_time(secs)  		12
sensor: u_hd_fin_ap_gain(1/rad)      		1.50
sensor: u_hd_fin_ap_igain(1/rad-sec) 		0.015
sensor: u_hd_fin_ap_dgain(sec/rad) 			6.00
sensor: u_hd_fin_ap_hardover_holdoff(sec)  	30.0
#sensor: u_heading_deadband(rad) 			-1

# Altimeter settings:
sensor: u_alt_min_depth(m)					15	 	# average depth > 30 m, don't know if it saves power though
sensor: u_min_altimeter(m)					3.7   	# in, altimeter reading must be between these(inclusive)
sensor: u_max_altimeter(m)					50.0   	# the maximum range of the altimeter
sensor: u_alt_reqd_good_in_a_row(nodim)		2
sensor: u_alt_filter_enabled(bool)       	0
sensor: m_altitude_rate(m/s) 				-1   	# negative avoid the bug

# Pitch params
sensor: u_pitch_ap_gain(1/rad)  			-1.0  	# -3 default
sensor: u_pitch_ap_dgain(s/rad)  			-1  	# 1 default
sensor: u_pitch_ap_deadband(rad) 			0.079 	# .079 = 4.5 deg
sensor: f_battpos_deadzone_width(inches)	0.2		# .2 default
sensor: f_battpos_db_frac_dz(nodim)			0.625	# .5 default

# Slowing the pitch down - 10/7/20 took a quick look at ru34 dbd and it looks like defaults do well, it runs hot until about 6 m down and then starts doubling
sensor: u_min_pitch_ap_period(sec)  		30		# runs no faster
sensor: u_max_pitch_ap_period(sec) 			60  	# runs at least this often

Deployment ru34-20240112T1722

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